/*
 * ActionGo.h
 *
 *  Created on: 09/giu/2011
 *      Author: lugas
 */

#ifndef ACTIONGO_H_
#define ACTIONGO_H_
#include "Aria.h"


class ActionGo: public ArAction {
public:

	ActionGo(double maxSpeed, double stopDistance, double controlAngle);

	virtual ~ActionGo(void) {
	}
	;

	virtual ArActionDesired *fire(ArActionDesired currentDesired);

	virtual void setRobot(ArRobot *robot);
	double myMaxSpeed;
protected:

	ArRangeDevice *mySonar;

	ArActionDesired myDesired;


	double myStopDistance;
	double myControlAngle;

};

#endif /* ACTIONGO_H_ */
